CN103231794A - Multi-air-bag aerial operation platform - Google Patents
Multi-air-bag aerial operation platform Download PDFInfo
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- CN103231794A CN103231794A CN2013101349532A CN201310134953A CN103231794A CN 103231794 A CN103231794 A CN 103231794A CN 2013101349532 A CN2013101349532 A CN 2013101349532A CN 201310134953 A CN201310134953 A CN 201310134953A CN 103231794 A CN103231794 A CN 103231794A
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Abstract
The invention discloses a multi-air-bag aerial operation platform which comprises a lift force forming module, an operation pod, an aviation operation device, an operation device control module and an aerial movement control module. The aviation operation device is fixedly arranged in the operation pod. The lift force forming module comprises a plurality of air bags and an air bag fixing framework, and the plurality of air bags are fixed on the same plane by the air bag fixing framework. The aerial movement control module comprises a ground station platform, an attitude sensor and winches, wherein the ground station platform is connected with electric control units of the winches; and the attitude sensor is arranged on the lift force forming module and sends measured movement attitude parameter signals to the ground station platform through radio waves. The lift force forming module is connected with all the winches through ropes. The operation pod is arranged at the central position of the air bag fixing framework. The operation device control module comprises an aerial assembly and a ground assembly, and the aerial assembly is fixedly arranged in the operation pod. The multi-air-bag aerial operation platform has the advantages of being high in safety, simple in structure, strong in stability and the like.
Description
Technical field
The present invention relates to a kind of aerial work platform, particularly a kind of many air bags aerial work platform.
Background technology
Agricultural aircraft aviation operating efficiency height, for example in the operation of wheatland weed eradication, aviation sprays higher 5～7 times than ground machine efficient, be equivalent to 200～250 times of artificial spraying, and the assault ability is strong, to burst, explosive disease and pest prevention and control are effective; Be not subjected to the restriction of crop growing state, particularly plant growth unintelligible to the capable ridge of Feng Hanghou, the aviation operation can solve the problem that plant growth later stage ground machine is difficult to go to the field operation.Compare with farm work, aircraft aviation operation reduces operating cost in addition, can not stay the characteristics of rut seal and damage crops etc.
The aircraft that is used for the agricultural aviation operation at present mainly includes large-scale fixed-wing agricultural aircraft, autogyro, propeller-parachuting and the unpiloted microminiature fixed wing aircraft of people's driving, single rotor helicopter, the many helighros of non co axial, dirigible etc.
Manned aircraft operation efficient height, but have problems such as needing special-purpose airport, maintenance cost height, air traffic control strictness.Unpiloted aircraft is owing to have characteristics such as need not special-purpose airport, professional aviator, maintenance cost is low and air traffic control is few, and have that flying height is low, advantage such as operating efficiency and precision height, operation landform wide adaptability, more and more in agricultural production, obtain extensive concern.
But unpiloted microminiature fixed wing aircraft, single rotor helicopter, the many helighros of non co axial are for the common personnel that are engaged in agriculture, it is expensive that price still seems, dangerous high, misoperation is easy to " falling machine ", " aircraft bombing ", not only cause the heavy losses of aircraft itself, and on the machine equipment and surface crops bring serious breaking-up, bring security threat also can for simultaneously the Ground Operation personnel, therefore, the safety issue of its use is one of its fast-developing key issue of restriction.Airship is moderate comparatively speaking, operational security is higher relatively, and be easy to safeguard, but traditional dirigible structure exists wind loading rating poor, operating speed is slow, problems such as very flexible, particularly when taking photo by plane the remote sensing operation, because it is very high to the stability requirement of body that aviation is taken, the general traditional monosaccate streamlined structures that adopt of traditional airship structure more, the facade of dirigible hull is than higher, and the relative center of gravity of sensor information collecting device of carry is lower, this not enough compact design has greatly influenced the stability of aerial work, especially rocks very obvious under the meteorological conditions that has natural wind to disturb.
The empty panoramic shooting in a kind of kite-airship ground and imaging device are disclosed in notification number is the Chinese utility model patent of CN2608420Y, this device utilizes airship to produce rising power, but because airship is traditional monosaccate structure, still fail to solve well the stability problem of the sensor information collecting device of carry, cause the precision of remote sensing data acquiring equipment fetched data not high easily.
Summary of the invention
The shortcoming that the objective of the invention is to overcome prior art provides a kind of safe, simple in structure and stable strong many air bags aerial work platform with not enough.
Purpose of the present invention is achieved through the following technical solutions: a kind of many air bags aerial work platform, comprise that lift forms module, operation gondola, aviation implement, implement control module and aerial mobile control module, described aviation implement is fixedly mounted in the operation gondola;
Described lift forms module and comprises a plurality of air bags and air bag fixed frame, and described a plurality of air bags are fixing at grade by the air bag fixed frame; Be full of the gas that proportion is lower than air in described a plurality of air bag;
Described aerial mobile control module comprises ground station's platform, attitude sensor and winch, and the quantity of described winch is more than 3 ones, elects according to the quantity of air bag; Described ground station platform is connected with the ECU (Electrical Control Unit) of winch, by the mode of operation of ECU (Electrical Control Unit) control winch; Described attitude sensor is installed in lift and forms on the module, is used for measuring the athletic posture parameter that lift forms module, and sends the athletic posture parameter signal that measures to the ground station platform;
Described lift forms module and is connected with each winch by rope;
Described air bag fixed frame center is provided with hanging device; Described operation gondola carries on air bag fixed frame hanging device;
Described implement control module comprises aerial assembly and terrestrial components, and described aerial assembly is fixedly mounted in the operation gondola and with the aviation implement and is connected,
Described aviation implement jointly controls by aerial assembly and the terrestrial components of implement control module, sends control signal by the terrestrial components of implement control module, and aerial assembly is realized controlling of aviation implement according to control signal.
Preferably, described lift forms module and comprises four air bags, and described air bag fixed frame is cross, and described four air bags are fixing at grade with the structure of matrix pattern by the air bag fixed frame.
Preferably, described attitude sensor is GPS, gyroscope, boat appearance reference system or Inertial Measurement Unit.
Preferably, described bag material is rubber, polyurethane film or polyvinylchloride, and described bladder shape is spheroid, ellipsoid, cuboid or square; The air bag fixed frame that described lift forms module is aluminum alloy and carbon fiber material.
Preferably, the gas in the described air bag is helium or hydrogen.
Preferably, the described lift athletic posture parameter that forms module comprise lift form the speed of module, highly, inclination angle and sense of motion.
Preferably, described winch comprises drive motor, ECU (Electrical Control Unit), reductor, cheese and strand oscillator, and wherein drive motor is connected with ECU (Electrical Control Unit), cheese links to each other with strand oscillator, strand oscillator is connected with reductor, is wound with rope on the cheese, and an end of rope forms module with lift and is connected; Described winch is placed ground or is installed in ground and moves on the equipment.
Preferably, also be installed with stability augmentation equipment and power equipment supply in the described operation gondola, described power equipment supply is connected with aviation implement and stability augmentation equipment respectively;
The aerial assembly of described implement control module comprises first data radio station, and described first data radio station is fixedly mounted in the operation gondola and with aviation implement and stability augmentation equipment and is connected;
Described implement control module terrestrial components comprises second data radio station, control terminal and storage equipment, and described second data radio station is connected with control terminal;
First data radio station of described aerial assembly and second data radio station of terrestrial components communicate by radiowave;
Described storage equipment is connected with control terminal.
Further, described aviation implement sprays equipment, crop production of hybrid seeds supple-mentary pollination equipment or low latitude article transloading equipment for the remote sensing equipment of taking photo by plane, aviation;
Described power equipment supply is solar cell or chargeable battery;
Described stability augmentation equipment is stabilizing stand, fixedly The Cloud Terrace or electric platform;
Described storage equipment is flash card, portable hard drive or computing machine.
Further, described implement control module terrestrial components also comprises wireless router, and described second data radio station is connected with many control terminals by wireless router.
The present invention has following advantage and effect with respect to prior art:
(1) the lift formation module of the present invention's employing includes a plurality of air bags, and these air bags are fixed on the same plane by a fixed structure by the air bag fixed frame, this structure can guarantee air bag aloft can extruding, roll and translation, guarantee the stability of aerial work platform when work, improved the aviation homework precision.Particularly low-altitude remote sensing, when operation such as taking photo by plane, the operation gondola carries on the center of air bag fixed frame, can be so that the center-of-gravity position of operation gondola be nearer apart from lift module center-of-gravity position, effectively reducing the operation gondola is subjected to wind-force etc. to influence rocking of producing, further improve the stability of aerial work platform, can significantly improve collecting device data acquisition accuracy rates such as remotely-sensed data.
(2) lift of the present invention forms the state of kinematic motion of module by aerial mobile control module control, aerial mobile control module control forms the height of module by the real-time monitoring lift of attitude sensor, speed, motion such as inclination angle and sense of motion pose parameter, and the motion pose parameter information that will monitor sends ground station's platform timely to, ground station's platform forms the current parameter informations such as athletic posture of module according to lift, folding and unfolding by control winch rope, it is mobile in certain area coverage with preferable attitude to make lift form module, so the control of lift of the present invention formation module is simple, convenient.In addition, because the present invention adopts rope and ground winch to realize the mobile control of aerial work platform, therefore, improved the wind loading rating of control job platform of the present invention greatly.
(3) lift of the present invention forms the air bag employing PVC(PolyVinyl Chloride of module, polyvinylchloride) soft explosion-proof lamp such as, the air bag fixed frame adopts light materials such as aluminum alloy or carbon fiber, have that safe, quality is light, advantage of simple structure, the lift of lightweight forms module can carry more effective operation load, improved the work efficiency of aerial work platform of the present invention, and simple many air bags rock-steady structure cost is low, daily attention is simple.
(4) the present invention can be used for various complex-terrains, for example land for growing field crops, mountain region, hills, water body etc., by the different aviation implement of carry, realize that the remote sensing of taking photo by plane, the aviation under the MODEL OVER COMPLEX TOPOGRAPHY sprays, operations such as crop production of hybrid seeds supple-mentary pollination and low latitude article transhipment.In addition, by adjusting the geographic position of ground winch, can realize the dynamic adjustment of aerial work platform coverage.
Description of drawings
Fig. 1 is many air bags of the present invention aerial work platform structure composition frame chart;
Fig. 2 is that the lift of many air bags of the present invention aerial work platform forms the module birds-eye view;
Fig. 3 is that the lift of many air bags of the present invention aerial work platform forms the module front view;
Fig. 4 is many air bags of the present invention aerial work platform scheme drawing;
Fig. 5 is the aerial mobile control module structural representation of many air bags of the present invention aerial work platform;
Fig. 6 is many air bags of the present invention aerial work platform Air China's idle job equipment and implement control module Principle of Communication figure.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, present embodiment discloses a kind of many air bags aerial work platform, comprise that lift forms module 1, operation gondola 3, aviation implement, implement control module 4 and aerial mobile control module 5, wherein the aviation implement is fixedly mounted in the operation gondola 3.
To shown in Figure 4, lift forms module 1 and comprises that four air bags 15 and 2, four air bags 15 of cross air bag fixed frame adopt adjacent in twos mode to be fixed on the air bag fixed frame 2 with the matrix pattern structure on same plane as Fig. 2; The structure of this matrix pattern guaranteed air bag 15 aloft can extruding, roll and translation.
Be full of the gas that proportion is lower than air in four air bags 15, as hydrogen or unreactable gas, present embodiment adopts the unreactable gas helium, also can replace with other unreactable gass or hydrogen.The material that present embodiment air bag 15 uses is polyvinylchloride, also can substitute with soft explosion-proof lamps such as rubber or polyurethane films; Bladder shape is spheroid; 2 materials of using of air bag fixed frame are the carbon fiber material.
Air bag fixed frame 2 centers 16 are provided with a hanging device, suspension fulcrum as operation gondola 3, operation gondola 3 carries on the hanging device of air bag fixed frame 2, make that the center-of-gravity position of operation gondola 3 is nearer apart from lift formation module 1 center-of-gravity position, improve the stability of operation gondola 3.
As shown in Figure 5, the aerial mobile control module 5 of present embodiment comprises ground station's platform 13, four winches 14 and attitude sensor 12.Wherein ground station's platform 13 is the general model plane remote controllers of multi-channel that have LCDs, and manual rocking bar and automatic navigation module are arranged on the remote controller, can send telecommand, can realize that lift forms motions such as the pitching of module, roll, translation.
Winch 14 comprises drive motor, ECU (Electrical Control Unit), reductor, cheese and strand oscillator, wherein drive motor is connected with ECU (Electrical Control Unit), and cheese links to each other with strand oscillator, and strand oscillator is connected with reductor by chain, be wound with rope 19 on the cheese, an end of rope 19 forms module 1 with lift and is connected.The rope 19 of every winch is connected on 2 four supports of cross air bag fixed frame.Rope 19 on the present embodiment winch 14 is guiding plated film aircraft cord wire; The present embodiment winch directly is positioned on the ground, also can be installed in ground and move on the equipment.Wherein ground move equipment can trac., by the good overland vehicle of performance or motor-driven carrier of trapped orbit etc. is arranged.
Ground station's platform 13 is connected with the ECU (Electrical Control Unit) of winch 14, ground station's platform 13 sends control command to winch 14 ECU (Electrical Control Unit), ECU (Electrical Control Unit) is according to the mode of operation of the instruction control drive motor that receives, and strand oscillator carries out folding and unfolding to rope according to the mode of operation of drive motor under the booster action of reductor and cheese.
Also be installed with stability augmentation equipment and power equipment supply in the operation gondola 3, power equipment supply is connected with aviation implement and stability augmentation equipment respectively, and wherein power equipment supply is used to aviation implement and stability augmentation equipment that power is provided; The power equipment supply that present embodiment adopts is solar cell, also can use chargeable battery.Stability augmentation equipment is used for fixedly aviation implement, for the aviation implement provides stable operating environment; The stability augmentation equipment that present embodiment adopts is fixing The Cloud Terrace, also can use stabilizing stand or electric platform to replace, fixedly the hemispheric protective cover of The Cloud Terrace tyre.
Wherein present embodiment aviation implement is the high spectrum camera of the remote sensing equipment of taking photo by plane MS4100, the high spectrum camera of the remote sensing equipment of taking photo by plane MS4100 is used for gathering view data and the spectral information of effective object, high spectrum camera MS4100 is ccd sensor, high spectrum camera MS4100 can identify the wave band of 400～1100nm, wherein 700～1100nm is the infrared ray wave band, be human eye can not identify, and the nutritional deficiency information of crop and disease and insect information change the most tangible wave band and embody a concentrated expression of infrared band.It comprises the spectrum of four wave bands, is respectively R, G, B, INR, has three kinds of mode of operations optional, is respectively RGB, CIR, RGB/CIR.Exposure mode can adopt manually or automatically, adopts the automatic exposure mode in the present embodiment.High spectrum camera MS4100 best result is debated rate and can be reached 1920*1080, and present embodiment adopts lowest resolution 640*480, and the signal to noise ratio of the remote sensing signal that collects is 60dB, and picture quality is higher.High spectrum camera MS4100 RS232 interface in addition can carry out data exchange with data radio station.
The implement control module comprises aerial assembly and terrestrial components; The aviation implement jointly controls by the aerial assembly of implement control module and the terrestrial components of implement control module, terrestrial components by the implement control module is sent control signal, and aerial assembly is realized controlling of aviation implement according to control signal.
As shown in Figure 6, the aerial assembly of implement control module comprises first data radio station, and first data radio station is fixedly mounted in the operation gondola and with take photo by plane remote sensing equipment and stability augmentation equipment and is connected;
Implement control module terrestrial components comprises second data radio station, wireless router, many control terminals and storage equipment; Storage equipment is connected with control terminal; Storage equipment is used for the data that storage aviation implement is gathered, and the storage equipment flash card that present embodiment adopts also can be with portable hard drive or computing machine.
Second data radio station is connected with each control terminal by wireless router; Wireless router can realize that second data radio station connects a plurality of control terminals simultaneously, makes many control terminals control the remote sensing equipment of taking photo by plane simultaneously.Wherein control terminal is used for showing the operating condition of the remote sensing equipment of taking photo by plane, and controls the mode of operation of mode of operation and the stability augmentation equipment of the remote sensing equipment of taking photo by plane; Wherein the mode of operation of stability augmentation equipment comprises that diaxon increases steady and three-axis stability augmentation dual mode;
The remote sensing equipment of taking photo by plane sends its remotely-sensed data that collects to each control terminal by first data radio station, second data radio station and wireless router.
First data radio station of aerial assembly and second data radio station of terrestrial components communicate by radiowave;
First data radio station that present embodiment adopts and second data radio station are Nano IP series, its frequency of operation is 902～928MHz, mode of operation is frequency modulation, transmission distance does not have to block within 50 kilometers and is 1.2Mkps, can realize remote diagnosis, have good anti-strong jamming and rejection characteristic.
The working process of the aerial remote sensing operation of the many air bags of present embodiment is as follows:
(1) ground station's platform sends control command to each winch control unit, controls each winch the rope on its cheese is carried out the folding and unfolding processing, makes lift form the module setting in motion.
(2) attitude sensor GPS monitor in real time lift form the speed of module, highly, attitude parameters such as inclination angle and sense of motion, and these parameter informations are sent to ground station's platform, ground station's platform is according to predefined path of motion, ECU (Electrical Control Unit) to each winch is sent control command, makes lift form module moves to zone to be measured according to control command top.
(3) control terminal in the implement control module sends to control signal the remote sensing equipment of taking photo by plane high spectrum camera MS4100 and increases steady module by wireless router, second data radio station and first data radio station, adjust high spectrum camera MS4100 mode of operation and wave band, the mode of operation of control stability augmentation equipment.
(4) high spectrum camera MS4100 gathers the graphicinformation of regional crops to be measured in the low latitude, and the remotely-sensed data that collects is transferred to control terminal by first data radio station, second data radio station and wireless router, control terminal sends it to storage card and stores after receiving the remotely-sensed data that high spectrum camera MS4100 collects.
Above-described embodiment is preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spiritual essence of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. the platform of air bag aerial work more than a kind is characterized in that, comprises that lift forms module, operation gondola, aviation implement, implement control module and aerial mobile control module, and described aviation implement is fixedly mounted in the operation gondola;
Described lift forms module and comprises a plurality of air bags and air bag fixed frame, and described a plurality of air bags are fixing at grade by the air bag fixed frame; Be full of the gas that proportion is lower than air in described a plurality of air bag;
Described aerial mobile control module comprises ground station's platform, attitude sensor and winch, and described winch quantity is more than 3 ones, elects according to the quantity of air bag; Described ground station platform is connected with the ECU (Electrical Control Unit) of winch, by the mode of operation of ECU (Electrical Control Unit) control winch; Described attitude sensor is installed in lift and forms on the module, is used for measuring the athletic posture parameter that lift forms module, and sends the athletic posture parameter signal that measures to the ground station platform;
Described lift forms module and is connected with each winch by rope;
Described air bag fixed frame center is provided with hanging device; Described operation gondola carries on air bag fixed frame hanging device;
Described implement control module comprises aerial assembly and terrestrial components, and described aerial assembly is fixedly mounted in the operation gondola and with the aviation implement and is connected,
Described aviation implement jointly controls by the aerial assembly of implement control module and the terrestrial components of implement control module, terrestrial components by the implement control module is sent control signal, and aerial assembly is realized controlling of aviation implement according to control signal.
2. many air bags aerial work platform according to claim 1, it is characterized in that, described lift forms module and comprises four air bags, and described air bag fixed frame is cross, and described four air bags are fixing at grade with the structure of matrix pattern by the air bag fixed frame.
3. many air bags aerial work platform according to claim 1 is characterized in that, described attitude sensor is GPS, gyroscope, boat appearance reference system or Inertial Measurement Unit.
4. many air bags aerial work platform according to claim 1 is characterized in that described bag material is rubber, polyurethane film or polyvinylchloride, and described bladder shape is spheroid, ellipsoid, cuboid or square; The air bag fixed frame that described lift forms module is aluminum alloy and carbon fiber material.
5. many air bags aerial work platform according to claim 1 is characterized in that the gas in the described air bag is helium or hydrogen.
6. many air bags aerial work platform according to claim 1 is characterized in that, the athletic posture parameter that described lift forms module comprise lift form the speed of module, highly, inclination angle and sense of motion.
7. many air bags aerial work platform according to claim 1, it is characterized in that, described winch comprises drive motor, ECU (Electrical Control Unit), reductor, cheese and strand oscillator, wherein drive motor is connected with ECU (Electrical Control Unit), cheese links to each other with strand oscillator, strand oscillator is connected with reductor, is wound with rope on the cheese, and an end of rope forms module with lift and is connected; Described winch is placed ground or is installed in ground and moves on the equipment.
8. many air bags aerial work platform according to claim 1 is characterized in that, also is installed with stability augmentation equipment and power equipment supply in the described operation gondola, and described power equipment supply is connected with aviation implement and stability augmentation equipment respectively;
The aerial assembly of described implement control module comprises first data radio station, and described first data radio station is fixedly mounted in the operation gondola and with aviation implement and stability augmentation equipment and is connected;
Described implement control module terrestrial components comprises second data radio station, control terminal and storage equipment, and described second data radio station is connected with control terminal;
First data radio station of described aerial assembly and second data radio station of terrestrial components communicate by radiowave;
Described storage equipment is connected with control terminal.
9. many air bags aerial work platform according to claim 8 is characterized in that, described aviation implement sprays equipment, crop production of hybrid seeds supple-mentary pollination equipment or low latitude article transloading equipment for the remote sensing equipment of taking photo by plane, aviation;
Described power equipment supply is solar cell or chargeable battery;
Described stability augmentation equipment is stabilizing stand, fixedly The Cloud Terrace or electric platform;
Described storage equipment is flash card, portable hard drive or computing machine.
10. many air bags aerial work platform according to claim 8 is characterized in that, described implement control module terrestrial components also comprises wireless router, and described second data radio station is connected with many control terminals by wireless router.
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| CN103587688A (en) * | 2013-11-25 | 2014-02-19 | 华南农业大学 | Sprayer stability augmentation device and method for multi-rotor-wing unmanned pesticide spraying machine |
| CN104843166A (en) * | 2015-04-20 | 2015-08-19 | 黄金井 | Aerial base |
| CN105730670A (en) * | 2015-10-28 | 2016-07-06 | 广西慧云信息技术有限公司 | Long-endurance unmanned aerial vehicle adopting new energy |
| CN106171959A (en) * | 2016-07-18 | 2016-12-07 | 中国农业大学 | A kind of pollination sprays equipment and system |
| RU169747U1 (en) * | 2016-07-18 | 2017-03-31 | Алексей Игоревич Салмин | Airship modular shell |
| CN106828827A (en) * | 2017-02-27 | 2017-06-13 | 东莞产权交易中心 | A kind of marine whaleboat |
| CN107651208A (en) * | 2017-10-12 | 2018-02-02 | 智凌云科技（北京）有限公司 | One kind is tethered at unmanned plane and is tethered at UAS |
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